Handheld device and hand tremor compensation method

A handheld device, comprising:

• a functional body to be used by a user;
• one continuous handle capable of being held by the user and provided with a first detection circuit, wherein the first detection circuit is configured to detect a movement state of the handle, to acquire hand tremor information about a hand of the user holding the handle;
• a connector connected to the handle;
• a movement mechanism connected to the functional body and the connector, and configured to drive the functional body to move relative to the handle;
• and
• a control circuit configured to control an operating state of the movement mechanism in accordance with the hand tremor information about the hand of the user acquired by the first detection circuit, to drive the functional body to perform compensating movement relative to the handle, thereby to maintain the functional body at a selected position,
• the hand tremor information comprises:
• rectilinear movement information about the hand of the user in an X-axis direction, a Y-axis direction and a Z-axis direction in a three-dimensional coordinate system;
• and
• rotational angle information about the hand of the user acquired in the case that the hand of the user rotates about at least two coordinate axes in the three-dimensional coordinate system as central axes;
• the movement mechanism is at least capable of driving the functional body to move rectilinearly relative to the handle in the X-axis direction, the Y-axis direction and the Z-axis direction in the three-dimensional coordinate system, and controlling the functional body to rotate relative to the handle about the at least two coordinate axes in the three-dimensional coordinate system as the central axes;
• and
• the control circuit is further configured to:
• acquire, in accordance with the hand tremor information about the hand of the user acquired by the first detection circuit, rectilinear movement components of the handle in the X-axis direction, the Y-axis direction and the Z-axis direction in the three-dimensional coordinate system, and rotational movement components of the handle in the case that the handle rotates about the at least two coordinate axes in the three-dimensional coordinate system as the central axes;
• and
• acquire, in accordance with the rectilinear movement components and the rotational movement components, a compensating movement component for cancelling out an influence of the movement of the handle on the movement of the functional body;
• and
• control the operating state of the movement mechanism in accordance with the compensating movement component,
• wherein the handle comprises:
• a main body extending along the Y-axis direction;
• and
• a first end and a second end arranged opposite to each other, wherein the first end and the second end of the handle are connected to the functional body through a first connector and a second connector respectively,
• wherein the movement mechanism comprises:
• a first X-axis-direction movement member configured to control the functional body to move rectilinearly relative to the first end of the handle in the X-axis direction, a first Y-axis-direction movement member configured to control the functional body to move rectilinearly relative to the first end of the handle in the Y-axis direction, and a first Z-axis-direction movement member configured to control the functional body to move rectilinearly relative to the first end of the handle in the Z-axis direction;
• and
• a second X-axis-direction movement member configured to control the functional body to move rectilinearly relative to the second end of the handle in the X-axis direction, a second Y-axis-direction movement member configured to control the functional body to move rectilinearly relative to the second end of the handle in the Y-axis direction, and a second Z-axis-direction movement member configured to control the functional body to move rectilinearly relative to the second end of the handle in the Z-axis direction,
• wherein the first X-axis-direction movement member, the first Y-axis-direction movement member and the first Z-axis-direction movement member are arranged at the first end of the handle, and the second X-axis-direction movement member, the second Y-axis-direction movement member and the second Z-axis-direction movement member are arranged at the second end of the handle,
• wherein the control circuit is further configured to, in accordance with the compensating movement component:
• control the first X-axis-direction movement member and the second X-axis-direction movement member to drive the functional body to move relative to the first end and the second end of the handle in the X-axis direction asynchronously, to control the functional body to rotate about a Z-axis in the three-dimensional coordinate system as the central axis;
• control the first Z-axis-direction movement member and the second Z-axis-direction movement member to drive the functional body to move relative to the first end and the second end of the handle in the Z-axis direction asynchronously, to control the functional body to rotate about an X-axis in the three-dimensional coordinate system as the central axis,
• wherein the second Y-axis-direction movement member is configured to drive the functional body to move relative to the second end of the handle in the Y-axis direction asynchronously with a movement of the functional body relative to the first end of the handle in the Y-axis direction driven by the first Y-axis-direction movement member.